Automotive drone deployment system

• US 9,977,431 B2
• Filed: 01/30/2017
• Issued: 05/22/2018
• Est. Priority Date: 07/16/2014
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lockwood, John A., Stanek, Joseph F.
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): Stroud, James E
• Application Number:
  US15/419,804
• Publication Number:
  US 20170139420A1
• Time in Patent Office: 477 Days
• Field of Search: 701 3
• CPC Class Codes: B60R 16/02 electric constitutive elements
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B64C 2230/00 Boundary layer controls
• CPC Class Codes: B64C 29/0008 having its flight directional axis horizontal when grounded
• CPC Class Codes: B64C 29/0091 Accessories not provided for elsewhere
• CPC Class Codes: B64C 29/02 having its flight directional axis vertical when grounded
• CPC Class Codes: B64U 10/00 Type of UAV
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/20 for use as communications relays, e.g. high-altitude platforms
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 70/00 Launching, take-off or landing arrangements
• CPC Class Codes: B64U 70/30 for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net
• CPC Class Codes: B64U 70/60 Take-off or landing of UAVs from a runway using their own power
• CPC Class Codes: B64U 70/80 Vertical take-off or landing, e.g. using rockets rotorcrafts B64U10/10; VTOL aircraft B64U10/20
• CPC Class Codes: B64U 70/83 using parachutes, balloons or the like
• CPC Class Codes: B64U 80/00 Transport or storage specially adapted for UAVs
• CPC Class Codes: B64U 80/86 : Land vehicles
• CPC Class Codes: G05D 1/0022 : characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0088 : characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0094 : involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0202 : specially adapted to aircraft
• CPC Class Codes: G05D 1/0212 : with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0231 : using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0242 : using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 : using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 : using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0276 : using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/028 : using a RF signal
• CPC Class Codes: G08C 17/00 : Arrangements for transmitting signals characterised by the use of a wireless electrical link
• CPC Class Codes: G08G 1/012 : from other sources than vehicle or roadside beacons, e.g. mobile networks
• CPC Class Codes: G08G 1/091 : Traffic information broadcasting broadcasting communication H04H

Abstract

This disclosure generally relates to an automotive drone deployment system that includes at least a vehicle and a deployable drone that is configured to attach and detach from the vehicle. More specifically, the disclosure describes the vehicle and drone remaining in communication with each other to exchange information while the vehicle is being operated in an autonomous driving mode so that the vehicle'"'"'s performance under the autonomous driving mode is enhanced.

Claims

1. A vehicle comprising:

a plurality of sensors, including one or more leading sensors configured to sense external objects leading the vehicle, and processor(s) configured to;

determine a vehicle speed;

estimate a leading sensing range of the one or more leading sensors;

determine a desired leading sensing range of the one or more leading sensors;

compare the estimated leading sensing range with the desired leading sensing range;

transmit an instruction to a drone based on the comparison.

2. The vehicle of claim 1, wherein the instruction comprises a command for the drone to detach from the vehicle.

3. The vehicle of claim 1, wherein the instruction comprises a command for the drone to fly toward a specified location.

4. The vehicle of claim 3, wherein the processor(s) are configured to base the specified location on the determined vehicle speed.

5. The vehicle of claim 1, wherein the vehicle speed is a desired vehicle speed or an actual vehicle speed and wherein the processor(s) are configured to:

autonomously steer the vehicle based on inputs from the plurality of sensors;

autonomously accelerate the vehicle based on inputs from the plurality of sensors;

enforce a speed cap on the vehicle;

vary the enforced speed cap based on the estimated leading sensing range of the one or more leading sensors.

6. The vehicle of claim 5, wherein the processor(s) are configured to:

receive information from the drone;

vary the enforced speed cap based on received information.

7. A drone deployment system comprising:

the vehicle of claim 1 and the drone, the drone comprising drone sensors and drone processor(s) configured to;

determine whether the drone is docked with the vehicle;

transmit readings from the drone sensors to the vehicle when the drone is docked.

8. The vehicle of claim 1, wherein the processor(s) are configured to:

receive traffic data from a traffic server;

transmit an instruction to the drone based on the received traffic data.

9. The vehicle of claim 8, wherein the processor(s) are configured to:

determine a traffic congestion location based on the received traffic data;

transmit an instruction to the drone to sense the determined traffic congestion location.

10. The vehicle of claim 1, wherein the processor(s) are configured to:

receive a vehicle destination;

autonomously steer the vehicle based on inputs from the plurality of sensors and the received vehicle destination;

autonomously accelerate the vehicle based on inputs from the plurality of sensors;

instruct the drone to move toward and sense the received vehicle destination.

11. A method of controlling a vehicle, the vehicle comprising a plurality of sensors, including one or more leading sensors configured to sense external objects leading the vehicle, and processor(s), the method comprising, via the processor(s):

determining a vehicle speed;

estimating a leading sensing range of the one or more leading sensors;

determining a desired leading sensing range of the one or more leading sensors;

comparing the estimated leading sensing range with the desired leading sensing range;

transmitting an instruction to a drone based on the comparison.

12. The method of claim 11, wherein the instruction comprises a command for the drone to detach from the vehicle.

13. The method of claim 11, wherein the instruction comprises a command for the drone to fly toward a specified location.

14. The method of claim 13, comprising specifying the location based on the determined vehicle speed.

15. The method of claim 14, wherein the vehicle speed is a desired vehicle speed or an actual vehicle speed and the method comprises:

autonomously steering the vehicle based on inputs from the plurality of sensors;

autonomously accelerating the vehicle based on inputs from the plurality of sensors;

enforcing a speed cap on the vehicle;

varying the enforced speed cap based on the estimated leading sensing range of the one or more leading sensors.

16. The method of claim 15, comprising:

receiving information from the drone;

varying the enforced speed cap based on the received information.

17. The method of claim 16, wherein the drone comprises drone sensors and drone processor(s), the method comprising:

determining whether the drone is docked with the vehicle;

transmitting readings from the drone sensors to the vehicle when the drone is docked.

18. The method of claim 13, comprising:

receiving traffic data from a traffic server;

specifying the location based on the received traffic data.

19. The method of claim 18, comprising:

determining a traffic congestion location based on the received traffic data;

specifying the location based on the determined traffic congestion location.

20. The method of claim 19, comprising:

receiving a vehicle destination;

autonomously steering the vehicle based on inputs from the plurality of sensors and the received vehicle destination;

autonomously accelerating the vehicle based on inputs from the plurality of sensors;

instructing the drone to move toward and sense the received vehicle destination.